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At University Missouri-Rolla they've created a robot named ELADIN. It uses water jets to create a high pressure, but low force that goes into the ground. The sounds that come up from the holes are processed and it can be determined what the jet stream hit. For more information on the robot read: http://findarticles.com/p/articles/mi_m0FZX/is_12_68/ai_95954256/